Unable to select correct articulation during Gain Tuning

[zakydzul]

Isaac Sim Version

4.2.0

Operating System

Windows 11

GPU Information

• Model: RTX 3080
• Driver Version: Latest

Topic Description

Detailed Description

I was following the Adding a New Manipulator tutorial in IsaacSim Docs (Adding a New Manipulator — Omniverse IsaacSim). However when it came to Gains Tuning section, I could not select the correct Articulation and only /articulation/root_joint was available, as the results when I wanted to continue to Controlling the Gripper, it threw an error due to incorrect prim path.

Steps to Reproduce

1. Follow the Adding a New Manipulator tutorial in IsaacSim Docs

Error Messages

when running the gripper_control.py:
Exception: Prim path expression ['/World/cobotta/root_joint/onrobot_rg6_base_link'] is invalid, a prim matching the expression needs to created before wrapping it as view

Screenshots or Videos

[VickNV]

Please check if Adding a New Manipulator example doesn't work is helpful. Thanks.

[zakydzul]

I’ve successfully worked around this problem using this step:

1. The problem is primarily due to the articulation root is set to world/cobotta/root_joint, therefore, the gain tuner picked up this as the articulation robot, and the problem carried away when we want to test the gripping fingers.
2. before we go to gain tunner, select the root_joint prim and navigate to physics in property window and delete the articulation root.
3. select the cobotta_pro_900 xform and click add->physics->Articulation root.
4. redo the gain tuner and save the usd file.